control_loop.hpp

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#pragma once
 
#include <string>
#include <vector>
 
#include "autotune/control/control_element.hpp"
 
namespace libstp::autotune::control
{

class ControlLoop final : public ControlElement
{
public:
    ControlLoop(ControlElement& controller, ControlElement& controlPath);
 
    [[nodiscard]] double u() const { return u_; }
    [[nodiscard]] double yMin() const { return y_min_; }
    [[nodiscard]] double yMax() const { return y_max_; }
    [[nodiscard]] double amplitude() const { return (y_max_ - y_min_) / 2; }
 
    [[nodiscard]] std::string getType() const override { return "ControlLoop"; }
    [[nodiscard]] double      getLowestTimeConstant() const override;
    void                      initialize(double dt) override;
    double                    calculate(double w, double dt) override;
    [[nodiscard]] int         optimizeGetNumParameters() const override;
    void optimizeSetParameters(const std::vector<double>& params, int startIdx) override;
 
private:
    ControlElement& controller_;
    ControlElement& control_path_;
 
    double u_{0};
    double y_n1_{0};
    double y_min_{0};
    double y_max_{0};
    int    direction_{1};
};
 
} // namespace libstp::autotune::control